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[0013] The present invention provides surgical methods and devices which allow closed-chest surgery to be performed on a heart of a patient while the heart is beating. A region of the heart is often stabilized by engaging a surface of the heart with a stabilizer. The stabilizer can inhibit (i.e., substantially reduce) physiological motion of the stabilized region without having to stop the heart. While the stabilized region will not necessarily be absolutely still, motion of the target tissues can be inhibited sufficiently to treat the target tissues, particularly with robotic surgical tools which move in respo
Problems solved by technology
Coronary artery disease remains the leading cause of morbidity and mortality in western societies.
While very effective in many cases, the use of open-heart surgery to perform coronary artery bypass grafting is highly traumatic to the patient.
Unfortunately, the proposed techniques for both minimally invasive cardiac surgery and beating-heart cardiac surgery significantly increase the difficulty of these already complex su
Method used
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[0041] Referring now to FIG. 1, a robotic surgical system 10 includes a master control station 200 and a slave cart 300. Optionally, any of several other additional components may be included in the surgical system to enhance the capabilities of the robotic devices to perform complex surgical procedures. An operator O performs a minimally invasive surgical procedure at an internal surgical site within patient P using minimally invasive surgical instruments 100. Operator O works at master control station 200. Operator O views a display provided by the workstation and manipulates left and right input devices. The telesurgical system moves surgical instruments mounted on robotic arms of slave cart 300 in response to movement of the input devices. As described in co-pending U.S. patent application Ser. No. 09 / 433,120, filed on Nov. 3, 1999 (Attorney Docket No. 17516-004720), the full disclosure of which is incorporated herein by reference, a selectively designated “left” instrument is a...
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Abstract
Surgical methods and devices allow closed-chest surgery to be performed on a heart of a patient while the heart is beating. A region of the heart is stabilized by engaging a surface of the heart with a stabilizer without having to stop the heart. Motion of the target tissues is inhibited sufficiently to treat the target tissues with robotic surgical tools which move in response to inputs of a robotic system operator. A stabilizing surface of the stabilizer is coupled to a drive system to position the surface from outside the patient, preferably by actuators of the robotic servomechanism. Exemplary stabilizers includes a suture or other flexible tension member spanning between a pair of jointed bodies, allowing the member to occlude a coronary blood vessel and/or help stabilize the target region between the stabilizing surfaces.
Description
CROSS-REFERENCES TO RELATED APPLICATIONS [0001] The present application is a continuation of and claims the benefit of priority from U.S. patent application Ser. No. 10 / 017,641 (Attorney Docket No. 017516-002531US), filed Dec. 14, 2001, which is a divisional of and claims the benefit of priority from U.S. patent application Ser. No. 09 / 436,524 (Attorney Docket No. 017516-002530US), filed Nov. 9, 1999; which is a continuation-in-part of and claims the benefit of priority from U.S. patent application Ser. No. 09 / 374,643 (Attorney Docket No. 017516-005900US), filed Aug. 16, 1999, and U.S. patent application Ser. No. 09 / 436,982 (Attorney Docket No. 017516-002520US), filed Nov. 9, 1999, which claims the benefit of priority from Provisional Application Ser. Nos. 60 / 109,301 (Attorney Docket No. 017516-001000US), filed Nov. 20, 1998; 60 / 109,303 (Attorney Docket No. 017516-001100US), filed Nov. 20, 1998; 60 / 109,359 (Attorney Docket No. 017516-002500US), filed Nov. 20, 1998; and 60 / 150,145 (A...
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